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<div class="title">iss_3d.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_ISS_3D_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_ISS_3D_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/keypoint.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT, <span class="keyword">typename</span> NormalT = pcl::Normal&gt;</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html">   85</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html">ISSKeypoint3D</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;ISSKeypoint3D&lt;PointInT, PointOutT, NormalT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const ISSKeypoint3D&lt;PointInT, PointOutT, NormalT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Keypoint&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">OctreeSearchIn</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> OctreeSearchIn::Ptr OctreeSearchInPtr;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::name_</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_keypoint.html">Keypoint&lt;PointInT, PointOutT&gt;::keypoints_indices_</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#abd04154f4b62ac83bdc6811b433522de">  112</a></span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#abd04154f4b62ac83bdc6811b433522de">ISSKeypoint3D</a> (<span class="keywordtype">double</span> salient_radius = 0.0001)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      : <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a> (salient_radius)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a> (0.0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a> (0.0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> (0.0)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a> (0.975)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a> (0.975)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a> (0)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a> (0)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a> (5)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a> (new pcl::<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;<a class="code" href="structpcl_1_1_normal.html">NormalT</a>&gt;)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a> (static_cast&lt;float&gt; (M_PI) / 2.0f)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a> (0)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;ISSKeypoint3D&quot;</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> = <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a4efc3c6ba09b2363b12712c0fb2d55a1">  131</a></span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a4efc3c6ba09b2363b12712c0fb2d55a1">~ISSKeypoint3D</a> ()</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keyword">delete</span>[] <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">delete</span>[] <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5feefc782bd54c324170b82482711360">setSalientRadius</a> (<span class="keywordtype">double</span> salient_radius);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ade672eadfb5e9ae231348cca7b49aabd">setNonMaxRadius</a> (<span class="keywordtype">double</span> non_max_radius);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9549a2fac5de5583404ee6699ffe26c1">setNormalRadius</a> (<span class="keywordtype">double</span> normal_radius);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5f3b3731352fcb7b3dadca2a8bfa78e9">setBorderRadius</a> (<span class="keywordtype">double</span> border_radius);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a8530d096380170a4d81d65ae2e85d9ca">setThreshold21</a> (<span class="keywordtype">double</span> gamma_21);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa0687ad53c67c5a140ecea019036d67d">setThreshold32</a> (<span class="keywordtype">double</span> gamma_32);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a90c224d042979a73195fdcbc7b007f05">setMinNeighbors</a> (<span class="keywordtype">int</span> min_neighbors);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a2f59c8225cdd9e2b7aa8b309d73d7b13">setNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a8984ac00ee1822bcdae48486394175c1">  192</a></span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a8984ac00ee1822bcdae48486394175c1">setAngleThreshold</a> (<span class="keywordtype">float</span> angle)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a> = angle;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">setNumberOfThreads</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_threads = 0) { <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a> = nr_threads; }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keywordtype">bool</span>*</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aea90235222675852378ca58bd8202494">getBoundaryPoints</a> (PointCloudIn &amp;input, <span class="keywordtype">double</span> border_radius, <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a61e2d8e2b2546001194e438034bb1f8d">getScatterMatrix</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> &amp;current_index, Eigen::Matrix3d &amp;cov_m);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac2a9b728c1984938db6cb35b1f8618b4">initCompute</a> ();</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a08dec275b42269d09e7bcbdcac32e6bf">detectKeypoints</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">  235</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">  238</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">  241</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">  244</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">  247</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a>;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">  250</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">  253</a></span>&#160;      <span class="keywordtype">double</span> *<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">  256</a></span>&#160;      <span class="keywordtype">bool</span> *<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a>;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">  259</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">  262</a></span>&#160;      PointCloudNConstPtr <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">  265</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a>;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">  268</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  };</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;}</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="preprocessor">#include &lt;pcl/keypoints/impl/iss_3d.hpp&gt;</span></div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_ISS_3D_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a></div><div class="ttdoc">ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud....</div><div class="ttdef"><b>Definition:</b> iss_3d.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a08dec275b42269d09e7bcbdcac32e6bf"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a08dec275b42269d09e7bcbdcac32e6bf">pcl::ISSKeypoint3D::detectKeypoints</a></div><div class="ttdeci">void detectKeypoints(PointCloudOut &amp;output)</div><div class="ttdoc">Detect the keypoints by performing the EVD of the scatter matrix.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:293</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a1e2c3555b8731f73f80038d53c5e02d1"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">pcl::ISSKeypoint3D::third_eigen_value_</a></div><div class="ttdeci">double * third_eigen_value_</div><div class="ttdoc">Store the third eigen value associated to each point in the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a2afb0b8044b352a795ab38f85218f581"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">pcl::ISSKeypoint3D::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a2f59c8225cdd9e2b7aa8b309d73d7b13"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a2f59c8225cdd9e2b7aa8b309d73d7b13">pcl::ISSKeypoint3D::setNormals</a></div><div class="ttdeci">void setNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Set the normals if pre-calculated normals are available.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:98</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a4efc3c6ba09b2363b12712c0fb2d55a1"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a4efc3c6ba09b2363b12712c0fb2d55a1">pcl::ISSKeypoint3D::~ISSKeypoint3D</a></div><div class="ttdeci">~ISSKeypoint3D()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a5785e509ce928ec4bb18de8ccd920668"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">pcl::ISSKeypoint3D::gamma_32_</a></div><div class="ttdeci">double gamma_32_</div><div class="ttdoc">The upper bound on the ratio between the third and the second eigenvalue returned by the EVD.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a5f3b3731352fcb7b3dadca2a8bfa78e9"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5f3b3731352fcb7b3dadca2a8bfa78e9">pcl::ISSKeypoint3D::setBorderRadius</a></div><div class="ttdeci">void setBorderRadius(double border_radius)</div><div class="ttdoc">Set the radius used for the estimation of the boundary points. If the radius is too large,...</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:70</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a5feefc782bd54c324170b82482711360"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5feefc782bd54c324170b82482711360">pcl::ISSKeypoint3D::setSalientRadius</a></div><div class="ttdeci">void setSalientRadius(double salient_radius)</div><div class="ttdoc">Set the radius of the spherical neighborhood used to compute the scatter matrix.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a61e2d8e2b2546001194e438034bb1f8d"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a61e2d8e2b2546001194e438034bb1f8d">pcl::ISSKeypoint3D::getScatterMatrix</a></div><div class="ttdeci">void getScatterMatrix(const int &amp;current_index, Eigen::Matrix3d &amp;cov_m)</div><div class="ttdoc">Compute the scatter matrix for a point index.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:149</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a7172556ea66b5b2a1c86c48097e4b66c"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">pcl::ISSKeypoint3D::salient_radius_</a></div><div class="ttdeci">double salient_radius_</div><div class="ttdoc">The radius of the spherical neighborhood used to compute the scatter matrix.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a7ed8196d927bc413146e7a76dd885255"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">pcl::ISSKeypoint3D::edge_points_</a></div><div class="ttdeci">bool * edge_points_</div><div class="ttdoc">Store the information about the boundary points of the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a8530d096380170a4d81d65ae2e85d9ca"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a8530d096380170a4d81d65ae2e85d9ca">pcl::ISSKeypoint3D::setThreshold21</a></div><div class="ttdeci">void setThreshold21(double gamma_21)</div><div class="ttdoc">Set the upper bound on the ratio between the second and the first eigenvalue.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:77</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a8984ac00ee1822bcdae48486394175c1"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a8984ac00ee1822bcdae48486394175c1">pcl::ISSKeypoint3D::setAngleThreshold</a></div><div class="ttdeci">void setAngleThreshold(float angle)</div><div class="ttdoc">Set the decision boundary (angle threshold) that marks points as boundary or regular....</div><div class="ttdef"><b>Definition:</b> iss_3d.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a90c224d042979a73195fdcbc7b007f05"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a90c224d042979a73195fdcbc7b007f05">pcl::ISSKeypoint3D::setMinNeighbors</a></div><div class="ttdeci">void setMinNeighbors(int min_neighbors)</div><div class="ttdoc">Set the minimum number of neighbors that has to be found while applying the non maxima suppression al...</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a9371d707be211e6a031f00de27aec208"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">pcl::ISSKeypoint3D::gamma_21_</a></div><div class="ttdeci">double gamma_21_</div><div class="ttdoc">The upper bound on the ratio between the second and the first eigenvalue returned by the EVD.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a9549a2fac5de5583404ee6699ffe26c1"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a9549a2fac5de5583404ee6699ffe26c1">pcl::ISSKeypoint3D::setNormalRadius</a></div><div class="ttdeci">void setNormalRadius(double normal_radius)</div><div class="ttdoc">Set the radius used for the estimation of the surface normals of the input cloud. If the radius is to...</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a962bdf309d623503b1b262fedb829754"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">pcl::ISSKeypoint3D::non_max_radius_</a></div><div class="ttdeci">double non_max_radius_</div><div class="ttdoc">The non maxima suppression radius.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aa0687ad53c67c5a140ecea019036d67d"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa0687ad53c67c5a140ecea019036d67d">pcl::ISSKeypoint3D::setThreshold32</a></div><div class="ttdeci">void setThreshold32(double gamma_32)</div><div class="ttdoc">Set the upper bound on the ratio between the third and the second eigenvalue.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aa182e0c44f26fb0da65ea203046db3e9"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">pcl::ISSKeypoint3D::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">The cloud of normals related to the input surface.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aa65049e1122f688195bff1672f697fa4"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">pcl::ISSKeypoint3D::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads that has to be used by the scheduler.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ab052a7323d71aeb347563cd061f37823"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">pcl::ISSKeypoint3D::angle_threshold_</a></div><div class="ttdeci">float angle_threshold_</div><div class="ttdoc">The decision boundary (angle threshold) that marks points as boundary or regular. (default )</div><div class="ttdef"><b>Definition:</b> iss_3d.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_abd04154f4b62ac83bdc6811b433522de"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#abd04154f4b62ac83bdc6811b433522de">pcl::ISSKeypoint3D::ISSKeypoint3D</a></div><div class="ttdeci">ISSKeypoint3D(double salient_radius=0.0001)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ac2a9b728c1984938db6cb35b1f8618b4"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ac2a9b728c1984938db6cb35b1f8618b4">pcl::ISSKeypoint3D::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Perform the initial checks before computing the keypoints.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:199</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ac8ecef68caca79848c9c87f8d25187a4"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">pcl::ISSKeypoint3D::normal_radius_</a></div><div class="ttdeci">double normal_radius_</div><div class="ttdoc">The radius used to compute the normals of the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_acee859609fc4af6647ff620e2345b5ab"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">pcl::ISSKeypoint3D::border_radius_</a></div><div class="ttdeci">double border_radius_</div><div class="ttdoc">The radius used to compute the boundary points of the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ade672eadfb5e9ae231348cca7b49aabd"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ade672eadfb5e9ae231348cca7b49aabd">pcl::ISSKeypoint3D::setNonMaxRadius</a></div><div class="ttdeci">void setNonMaxRadius(double non_max_radius)</div><div class="ttdoc">Set the radius for the application of the non maxima supression algorithm.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:56</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ae9a44f39d2d44e6406bd28f4bedfaef5"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">pcl::ISSKeypoint3D::min_neighbors_</a></div><div class="ttdeci">int min_neighbors_</div><div class="ttdoc">Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:259</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aea90235222675852378ca58bd8202494"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aea90235222675852378ca58bd8202494">pcl::ISSKeypoint3D::getBoundaryPoints</a></div><div class="ttdeci">bool * getBoundaryPoints(PointCloudIn &amp;input, double border_radius, float angle_threshold)</div><div class="ttdoc">Compute the boundary points for the given input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html"><div class="ttname"><a href="classpcl_1_1_keypoint.html">pcl::Keypoint</a></div><div class="ttdoc">Keypoint represents the base class for key points.</div><div class="ttdef"><b>Definition:</b> keypoint.h:50</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a3bf7980bf7404eb9b5571afbbc2001f5"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">pcl::Keypoint::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_search_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a></div><div class="ttdoc">Octree pointcloud search class</div><div class="ttdef"><b>Definition:</b> octree_search.h:58</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
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